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<div class="title">D:/Workspace/Arduino/prencar/CurveLeft.cpp</div>  </div>
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<a href="_curve_left_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#include &quot;Arduino.h&quot;</span>
<a name="l00002"></a>00002 <span class="preprocessor">#include &quot;<a class="code" href="_curve_left_8h.html">CurveLeft.h</a>&quot;</span>
<a name="l00003"></a>00003 <span class="preprocessor">#include &quot;<a class="code" href="_move_8h.html">Move.h</a>&quot;</span>
<a name="l00004"></a>00004 <span class="preprocessor">#include &quot;<a class="code" href="_configuration_8h.html">Configuration.h</a>&quot;</span>
<a name="l00005"></a>00005 
<a name="l00009"></a><a class="code" href="class_curve_left.html#ad874ee9409da16dccd20549e6c2726b5">00009</a> <a class="code" href="class_curve_left.html#ad874ee9409da16dccd20549e6c2726b5">CurveLeft::CurveLeft</a>()
<a name="l00010"></a>00010 {
<a name="l00011"></a>00011 
<a name="l00012"></a>00012 }
<a name="l00013"></a>00013 
<a name="l00019"></a><a class="code" href="class_curve_left.html#a0e6f8f5d7f869edfaf34cf3e74676a86">00019</a> <span class="keywordtype">void</span> <a class="code" href="class_curve_left.html#a0e6f8f5d7f869edfaf34cf3e74676a86">CurveLeft::begin</a>(){
<a name="l00020"></a>00020   <a class="code" href="class_curve_left.html#a0e6f8f5d7f869edfaf34cf3e74676a86">LineFollow::begin</a>();
<a name="l00021"></a>00021   <a class="code" href="class_curve_left.html#a64999fcaca54a93b0c675ee74c3258e7">lineCenter</a>.<a class="code" href="class_line_center.html#a13e69abdd08c2da81f189e69642d980d">begin</a>();
<a name="l00022"></a>00022 
<a name="l00023"></a>00023   <a class="code" href="class_curve_left.html#ab6a1d67f5cb502fa3620186cbc8ca50c" title="The reference to the extended move class.">_extMove</a> = <a class="code" href="class_extended_move.html#a8ba9c560726a121efa0c78f26780e46a">ExtendedMove::getInstance</a>();
<a name="l00024"></a>00024 
<a name="l00025"></a>00025   <a class="code" href="class_curve_left.html#a0f7c63a8242780be79a08482380d9caa" title="This variable is set to true as soon as the curve is driven fully.">drivingCurveIsFinished</a> = <span class="keyword">false</span>;
<a name="l00026"></a>00026   <a class="code" href="class_curve_left.html#acd2447811c42de266003d47cf98606e5" title="Set to true, as soon as the car has reached the line but a line centering is done before continuing...">_lineCenteringStarted</a> = <span class="keyword">false</span>;
<a name="l00027"></a>00027 }
<a name="l00028"></a>00028 
<a name="l00032"></a><a class="code" href="class_curve_left.html#a2f70c4b1efef29cdf04dff01e6a90336">00032</a> <span class="keywordtype">void</span> <a class="code" href="class_curve_left.html#a2f70c4b1efef29cdf04dff01e6a90336">CurveLeft::startIt</a>(){
<a name="l00033"></a>00033   <span class="keywordtype">int</span> speedLeft;
<a name="l00034"></a>00034   <span class="keywordtype">int</span> speedRight;
<a name="l00035"></a>00035   <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02">TMotorDirection</a> leftMotorDir = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02a726a0af5164861adac8c015a742dcf21" title="The motor rotates forward.">forward</a>;
<a name="l00036"></a>00036   <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02">TMotorDirection</a> rightMotorDir = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02a726a0af5164861adac8c015a742dcf21" title="The motor rotates forward.">forward</a>;
<a name="l00037"></a>00037 
<a name="l00038"></a>00038   <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(67);
<a name="l00039"></a>00039 
<a name="l00040"></a>00040   <a class="code" href="class_curve_left.html#a0f7c63a8242780be79a08482380d9caa" title="This variable is set to true as soon as the curve is driven fully.">drivingCurveIsFinished</a> = <span class="keyword">false</span>;
<a name="l00041"></a>00041   <a class="code" href="class_curve_left.html#acd2447811c42de266003d47cf98606e5" title="Set to true, as soon as the car has reached the line but a line centering is done before continuing...">_lineCenteringStarted</a> = <span class="keyword">false</span>;
<a name="l00042"></a>00042 
<a name="l00043"></a>00043   <a class="code" href="class_curve_left.html#a3f46785750e729247f26099a93cfaeb9">_timeCurveLeftStarted</a> = millis();
<a name="l00044"></a>00044 
<a name="l00045"></a>00045   <span class="keywordflow">if</span>(<a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#affa93f2156dbf8041bf4b8084051cd83" title="The speed of the slower motor (in a left curve, left motor) during a 90° curve. This value can go fro...">curveSpeedSlowMotor</a> &lt; 0){
<a name="l00046"></a>00046     speedLeft = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#affa93f2156dbf8041bf4b8084051cd83" title="The speed of the slower motor (in a left curve, left motor) during a 90° curve. This value can go fro...">curveSpeedSlowMotor</a> * -1;
<a name="l00047"></a>00047     leftMotorDir = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02ab0b7e8cfed43da5fcfd380964736fadc" title="The motor rotates backward.">backwards</a>;
<a name="l00048"></a>00048   }
<a name="l00049"></a>00049   <span class="keywordflow">else</span>{
<a name="l00050"></a>00050     speedLeft = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#affa93f2156dbf8041bf4b8084051cd83" title="The speed of the slower motor (in a left curve, left motor) during a 90° curve. This value can go fro...">curveSpeedSlowMotor</a>;
<a name="l00051"></a>00051   }
<a name="l00052"></a>00052 
<a name="l00053"></a>00053   <span class="keywordflow">if</span>(<a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a01c64f5ae58a66ab565936b67bbb2b58" title="The speed of the faster motor (in a left curve, right motor) during a 90° curve. This value can go fr...">curveSpeedFastMotor</a> &lt; 0){
<a name="l00054"></a>00054     speedRight = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a01c64f5ae58a66ab565936b67bbb2b58" title="The speed of the faster motor (in a left curve, right motor) during a 90° curve. This value can go fr...">curveSpeedFastMotor</a> * -1;
<a name="l00055"></a>00055     rightMotorDir = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02ab0b7e8cfed43da5fcfd380964736fadc" title="The motor rotates backward.">backwards</a>;
<a name="l00056"></a>00056   }
<a name="l00057"></a>00057   <span class="keywordflow">else</span>{
<a name="l00058"></a>00058     speedRight = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a01c64f5ae58a66ab565936b67bbb2b58" title="The speed of the faster motor (in a left curve, right motor) during a 90° curve. This value can go fr...">curveSpeedFastMotor</a>;
<a name="l00059"></a>00059   }
<a name="l00060"></a>00060 
<a name="l00061"></a>00061   <span class="comment">//create an extMove command and add start it&#39;s execution</span>
<a name="l00062"></a>00062   <a class="code" href="struct_move_command.html">MoveCommand</a>* mc = <a class="code" href="class_curve_left.html#ab6a1d67f5cb502fa3620186cbc8ca50c" title="The reference to the extended move class.">_extMove</a>-&gt;<a class="code" href="class_extended_move.html#a5f34e9081613ec4d1796cac234b9cbb5" title="Current queue with commands that are executed.">commandQueue</a>;
<a name="l00063"></a>00063   mc[0].<a class="code" href="struct_move_command.html#ada8cf3cf629ff7847de2844abb8db7ad" title="Defines for how long this command shall be executed (milliseconds).">duration</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#aa88d485a2c671d043ff03b8222f3d880" title="Duration of the stop action.">curveStopDuration</a>;
<a name="l00064"></a>00064   mc[0].<a class="code" href="struct_move_command.html#a88e7e4c62bf65a3cf306ff587dd8b55b">dirLeftMotor</a> = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02ab0b7e8cfed43da5fcfd380964736fadc" title="The motor rotates backward.">backwards</a>;
<a name="l00065"></a>00065   mc[0].<a class="code" href="struct_move_command.html#a6ab4371e644543e7d92dd4f5439998d0">speedLeftMotor</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a6478e762e926dc1a0a534f158b50d0d1" title="This value defines the speed that shall be set to both motors during a stop that has to stop the car ...">curveStopSpeed</a>;
<a name="l00066"></a>00066   mc[0].<a class="code" href="struct_move_command.html#a645219cea821358f4a3ae7c8e2192ed9">dirRightMotor</a> = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02ab0b7e8cfed43da5fcfd380964736fadc" title="The motor rotates backward.">backwards</a>;
<a name="l00067"></a>00067   mc[0].<a class="code" href="struct_move_command.html#aa573be1cf5e1dc2cb21bed08980d379c">speedRightMotor</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a6478e762e926dc1a0a534f158b50d0d1" title="This value defines the speed that shall be set to both motors during a stop that has to stop the car ...">curveStopSpeed</a>;
<a name="l00068"></a>00068 
<a name="l00069"></a>00069   mc[1].<a class="code" href="struct_move_command.html#ada8cf3cf629ff7847de2844abb8db7ad" title="Defines for how long this command shall be executed (milliseconds).">duration</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a74cd50271e2f063f538514163cc36223" title="The time after which the car shall drive straight again to find the line (no more curve is done)...">curveDriveStraightTime</a>;
<a name="l00070"></a>00070   mc[1].<a class="code" href="struct_move_command.html#a88e7e4c62bf65a3cf306ff587dd8b55b">dirLeftMotor</a> = leftMotorDir;
<a name="l00071"></a>00071   mc[1].<a class="code" href="struct_move_command.html#a6ab4371e644543e7d92dd4f5439998d0">speedLeftMotor</a> = speedLeft;
<a name="l00072"></a>00072   mc[1].<a class="code" href="struct_move_command.html#a645219cea821358f4a3ae7c8e2192ed9">dirRightMotor</a> = rightMotorDir;
<a name="l00073"></a>00073   mc[1].<a class="code" href="struct_move_command.html#aa573be1cf5e1dc2cb21bed08980d379c">speedRightMotor</a> = speedRight;
<a name="l00074"></a>00074 
<a name="l00075"></a>00075   mc[2].<a class="code" href="struct_move_command.html#ada8cf3cf629ff7847de2844abb8db7ad" title="Defines for how long this command shall be executed (milliseconds).">duration</a> = 10000; <span class="comment">//just long enough</span>
<a name="l00076"></a>00076   mc[2].<a class="code" href="struct_move_command.html#a88e7e4c62bf65a3cf306ff587dd8b55b">dirLeftMotor</a> = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02a726a0af5164861adac8c015a742dcf21" title="The motor rotates forward.">forward</a>;
<a name="l00077"></a>00077   mc[2].<a class="code" href="struct_move_command.html#a6ab4371e644543e7d92dd4f5439998d0">speedLeftMotor</a> = 150;
<a name="l00078"></a>00078   mc[2].<a class="code" href="struct_move_command.html#a645219cea821358f4a3ae7c8e2192ed9">dirRightMotor</a> = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02a726a0af5164861adac8c015a742dcf21" title="The motor rotates forward.">forward</a>;
<a name="l00079"></a>00079   mc[2].<a class="code" href="struct_move_command.html#aa573be1cf5e1dc2cb21bed08980d379c">speedRightMotor</a> = 150;
<a name="l00080"></a>00080 
<a name="l00081"></a>00081   <a class="code" href="class_curve_left.html#ab6a1d67f5cb502fa3620186cbc8ca50c" title="The reference to the extended move class.">_extMove</a>-&gt;<a class="code" href="class_extended_move.html#a816f77b595c0ca03d44dd21b2d4de5ba">startCurrentQueue</a>(3);
<a name="l00082"></a>00082 }
<a name="l00083"></a>00083 
<a name="l00089"></a><a class="code" href="class_curve_left.html#a34930d2641dbbd389c536999a560f158">00089</a> <span class="keywordtype">void</span> <a class="code" href="class_curve_left.html#a34930d2641dbbd389c536999a560f158">CurveLeft::doJob</a>(){
<a name="l00090"></a>00090   <span class="keywordflow">if</span>((<a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#aa2238d49c21c52f8e86ff0ac80aff034" title="Interval in milliseconds in which the curve job shall be executed.">curveInterval</a> == 0 || millis() &gt; <a class="code" href="class_curve_left.html#a2906472b9d6c45308fe4e385df6c91b6" title="Holds the timestamp of the time when the last curve left check was done.">_timeLastCurveLeftCheck</a> + <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#aa2238d49c21c52f8e86ff0ac80aff034" title="Interval in milliseconds in which the curve job shall be executed.">curveInterval</a>) &amp;&amp; !<a class="code" href="class_curve_left.html#acd2447811c42de266003d47cf98606e5" title="Set to true, as soon as the car has reached the line but a line centering is done before continuing...">_lineCenteringStarted</a>){
<a name="l00091"></a>00091     <a class="code" href="class_curve_left.html#a2906472b9d6c45308fe4e385df6c91b6" title="Holds the timestamp of the time when the last curve left check was done.">_timeLastCurveLeftCheck</a> = millis();
<a name="l00092"></a>00092 
<a name="l00093"></a>00093     <span class="comment">//read the left line sensor, if it&#39;s already time to do so</span>
<a name="l00094"></a>00094     <span class="keywordflow">if</span>(<a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#adec850d0b0519d7a799841e6086a777d" title="Time in milliseconds after which the end sensor (end sensor = sensor that will recognize when the cur...">curveActivateEndSensorOffset</a> == 0 || millis() &gt; <a class="code" href="class_curve_left.html#a3f46785750e729247f26099a93cfaeb9">_timeCurveLeftStarted</a> + <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#adec850d0b0519d7a799841e6086a777d" title="Time in milliseconds after which the end sensor (end sensor = sensor that will recognize when the cur...">curveActivateEndSensorOffset</a>){
<a name="l00095"></a>00095       <span class="keywordtype">int</span> sensorValues[2];
<a name="l00096"></a>00096       <a class="code" href="class_line_follow.html#af85fe355ee0699cabc3c817d10aa8b9d">readLineSensors</a>(sensorValues);
<a name="l00097"></a>00097 
<a name="l00098"></a>00098       <span class="keywordflow">if</span>(sensorValues[0] &lt; <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#ab86a9d57799e36b0b985ad3b2e3bbfcd" title="Threshold value from black to white.">whiteThresholdLineSensors</a>){
<a name="l00099"></a>00099         <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(66, sensorValues[0]);
<a name="l00100"></a>00100         <a class="code" href="class_curve_left.html#ab6a1d67f5cb502fa3620186cbc8ca50c" title="The reference to the extended move class.">_extMove</a>-&gt;<a class="code" href="class_extended_move.html#ae80076eb8ea7ea00e7563e4bbf4657b6">stopCurrentQueue</a>();
<a name="l00101"></a>00101         <a class="code" href="class_curve_left.html#a64999fcaca54a93b0c675ee74c3258e7">lineCenter</a>.<a class="code" href="class_line_center.html#a736d4cd402c6dc398b374cae8aab5740">startIt</a>(<span class="keyword">true</span>);
<a name="l00102"></a>00102         <a class="code" href="class_curve_left.html#acd2447811c42de266003d47cf98606e5" title="Set to true, as soon as the car has reached the line but a line centering is done before continuing...">_lineCenteringStarted</a> = <span class="keyword">true</span>;
<a name="l00103"></a>00103       }
<a name="l00104"></a>00104     }
<a name="l00105"></a>00105   }
<a name="l00106"></a>00106 
<a name="l00107"></a>00107   <span class="comment">//line centering needs to be done after the curve is done.</span>
<a name="l00108"></a>00108   <span class="keywordflow">if</span>(<a class="code" href="class_curve_left.html#acd2447811c42de266003d47cf98606e5" title="Set to true, as soon as the car has reached the line but a line centering is done before continuing...">_lineCenteringStarted</a>){
<a name="l00109"></a>00109     <a class="code" href="class_curve_left.html#a64999fcaca54a93b0c675ee74c3258e7">lineCenter</a>.<a class="code" href="class_line_center.html#aa466b77cad70e564633e106efde81d4f">doJob</a>();
<a name="l00110"></a>00110     <span class="keywordflow">if</span>(<a class="code" href="class_curve_left.html#a64999fcaca54a93b0c675ee74c3258e7">lineCenter</a>.<a class="code" href="class_line_center.html#a56e3c04c97ecffaa6cd16a16d37992bc" title="This variable is set to true as soon as the car is centered completely.">lineCenteringIsFinished</a>){
<a name="l00111"></a>00111       <a class="code" href="class_curve_left.html#a0f7c63a8242780be79a08482380d9caa" title="This variable is set to true as soon as the curve is driven fully.">drivingCurveIsFinished</a> = <span class="keyword">true</span>;
<a name="l00112"></a>00112     }
<a name="l00113"></a>00113   }
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115 
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